      reward)))
 
 (defn make-set-parent-var-action [p-var c-var]
-  (env/env-util/make-factored-primitive 
+  (env-util/make-factored-primitive 
    [::SetParent p-var c-var] 
    {(free-var p-var) true} 
    {(free-var p-var) false (parent-var p-var c-var) true} 

(ns angelic.gasplan
  (:require [edu.berkeley.ai.util :as util]
            [edu.berkeley.ai.util  [graphs :as graphs] ]
            [angelic [env :as env]  [hierarchy :as hierarchy] 
                 [sas :as sas] [sas-analysis :as sas-analysis]])
  (:import [java.util HashMap]))



        dtgs          (sas-analysis/domain-transition-graphs sas-problem)
        simple-dtgs   (util/map-vals (fn [dtg] (for [[pval emap] dtg, [eval _] emap] [pval eval])) dtgs)
        acyclic-succ-fn (partial possibly-acyclic-successors (HashMap.) simple-dtgs)]
    (GASPlanEnv. 
     (expand-initial-state (env/initial-state sas-problem) child-var-map (goal-action dtgs))
     (fn gasplan-actions [s]
      (when-not (deadlocked? s child-var-map []);)
